>> P.426
Ⅲ26Incaseofdirectdrive(SA…DE)WT:MassofmovingtablekgWL:CarryingmasskgFc:Cordpull-resistance(1)NFM:LinearmotorthrustforceN(maximumthrustattravelingspeedV)ta:AccelerationtimesV:Travelingspeedm/sk:Factorofsafety(1.3)Note(1)ordpull-resistancevariesdependingoncordmassandhowtopullit.Usetheanexpectedresistancevalueforcalculation.JL:Inertiamomentofloadkg・m2JT:Inertiamomentofmovingtablekg・m2Mc:Cordpull-resistance(2)N・mMM:AlignmentstagetorqueN・mta:AccelerationtimesR:Travelingspeedrad/sk:Factorofsafety(1.3)Note(2)sthereisnocordforθ-axismovingtable,setthecordpull-resistanceto0iftheloaddoesnotpullcord.Calculatetheinertiamomentofloadbyreferencingcalculationformulasbelow.[IncaseofSA…DE/X(Y)]●FrictionresistanceofrollingguideFfFfvalueshallbeasfollows.IncaseofSA65DE/X0.5NIncaseofSA120DE/X3.0NIncaseofSA200DE/X10.0N●ForcefromrunningresistanceFLFL=Ff+Fc[N]●ForcefromaccelerationFaVFa=(WL+WT)・[N]ta●ThrustforcerequiredforaccelerationFPFP=Fa+FL[N]●Marginalaccelerationtimeta(WL+WT)・V・kta=[s]FM-FL[IncaseofSA…DE/S]●FrictionresistanceofrollingguideMfMfvalueshallbeasfollows.IncaseofSA65DE/S0.03N・mIncaseofSA120DE/S0.1N・mIncaseofSA200DE/S0.3N・m●TorquefromrotationresistanceMLML=Mf+Mc[N・m]●TorquefromaccelerationMaRMa=(JL+JT)・[N・m]ta●TorquerequiredforaccelerationMPMP=Ma+ML[N・m]●Marginalaccelerationtimeta(JL+JT)・R・kta=[s]MM-MLCalculationofinertiamomentp:density,m:massCylinderQuadrangularprismOffsetrotation1JL=・π・p・t・r421=・m・r221JL=・p・a・b・c・(a2+b2)121=・m・(a2+b2)12JL′=JL+m・r32JL′:nertiamomentfromrotationcenterJL:Inertiamomentwhenrotatingaroundthecenterofgravityrtabcr3
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